/*
*  Copyright 2018, Sebastian Pütz
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*  1. Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*
*  2. Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*
*  3. Neither the name of the copyright holder nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
*  abstract_recovery.h
*
*  author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
*
*/

#ifndef MBF_ABSTRACT_CORE__ABSTRACT_RECOVERY_H_
#define MBF_ABSTRACT_CORE__ABSTRACT_RECOVERY_H_

#include <stdint.h>
#include <string>
#include <boost/shared_ptr.hpp>

namespace mbf_abstract_core
{
/**
 * @class AbstractRecovery
 * @brief Provides an interface for recovery behaviors used in navigation.
 * All recovery behaviors written as plugins for the navigation stack must adhere to this interface.
 */
class AbstractRecovery
{
public:

    typedef boost::shared_ptr<::mbf_abstract_core::AbstractRecovery> Ptr;

    /**
     * @brief Runs the AbstractRecovery
     * @param message The recovery behavior could set, the message should correspond to the return value
     * @return An outcome which will be hand over to the action result.
     */
    virtual uint32_t runBehavior(std::string &message) = 0;

    /**
     * @brief Virtual destructor for the interface
     */
    virtual ~AbstractRecovery() {}

    /**
     * @brief Requests the recovery behavior to cancel, e.g. if it takes too much time.
     * @return True if a cancel has been successfully requested, false if not implemented.
     */
    virtual bool cancel() = 0;

protected:
    /**
     * @brief Constructor
     */
    AbstractRecovery() {};
};
};  /* namespace mbf_abstract_core */

#endif  /* MBF_ABSTRACT_CORE__ABSTRACT_RECOVERY_H_ */
